30 citations · 33 across the 8 of their papers we have counts for
9 papers · 1 filter
Imp-ACT: Adaptive Impedance Control and Action Chunking with Transformers to Learn Contact-Rich Manipulation from Demonstrations
Luca Zanetti, Doganay Sirintuna, Idil Ozdamar +3
Contact-rich manipulation requires robots to balance accurate motion tracking with compliant interaction, yet most visual-action policies leave compliance fixed at the controller l…
A Machine Learning Approach to Sensor Substitution from Tactile Sensing to Visual Perception for Non-Prehensile Manipulation
Idil Ozdamar, Doganay Sirintuna, Arash Ajoudani
Mobile manipulators are increasingly deployed in complex environments, requiring diverse sensors to perceive and interact with their surroundings. However, equipping every robot wi…
Pushing in the Dark: A Reactive Pushing Strategy for Mobile Robots Using Tactile Feedback
Idil Ozdamar, Doganay Sirintuna, Robin Arbaud +1
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular,…
Robot-Assisted Navigation for Visually Impaired through Adaptive Impedance and Path Planning
Pietro Balatti, Idil Ozdamar, Doganay Sirintuna +4
This paper presents a framework to navigate visually impaired people through unfamiliar environments by means of a mobile manipulator. The Human-Robot system consists of three key…
Enhancing Human-Robot Collaboration Transportation through Obstacle-Aware Vibrotactile Feedback
Doganay Sirintuna, Idil Ozdamar, Juan M. Gandarias +1
Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to…
Carrying the uncarriable: a deformation-agnostic and human-cooperative framework for unwieldy objects using multiple robots
Doganay Sirintuna, Idil Ozdamar, Arash Ajoudani
This manuscript introduces an object deformability-agnostic framework for co-carrying tasks that are shared between a person and multiple robots. Our approach allows the full contr…
An Object Deformation-Agnostic Framework for Human-Robot Collaborative Transportation
Doganay Sirintuna, Alberto Giammarino, Arash Ajoudani
In this study, an adaptive object deformability-agnostic human-robot collaborative transportation framework is presented. The proposed framework enables to combine the haptic infor…
Human-Robot Collaborative Carrying of Objects with Unknown Deformation Characteristics
Doganay Sirintuna, Alberto Giammarino, Arash Ajoudani
In this work, we introduce an adaptive control framework for human-robot collaborative transportation of objects with unknown deformation behaviour. The proposed framework takes as…
Towards Collaborative Drilling with a Cobot Using Admittance Controller
Yusuf Aydin, Doganay Sirintuna, Cagatay Basdogan
In the near future, collaborative robots (cobots) are expected to play a vital role in the manufacturing and automation sectors. It is predicted that workers will work side by side…